#ifndef __Algorithm_quaternion_H
#define	__Algorithm_quaternion_H

#include "includes.h"



Gravity Quaternion_vectorGravity( Quaternion *pNumQ );
void Quaternion_ToNumQ( Quaternion *pNumQ, EulerAngle *pAngE );
void Quaternion_ToAngE( Quaternion *pNumQ, EulerAngle *pAngE );
Quaternion Quaternion_Multiply( Quaternion NowQ, Quaternion OldQ );
void Quaternion_Normalize( Quaternion *pNumQ );
void Quaternion_RungeKutta( Quaternion *pNumQ, float GyrX, float GyrY, float GyrZ, float helfTimes );

#endif /* __Algorithm_quaternion_H */
